Linking Field Decomposition and Coverage Path Planning: A Coevolution Approach

Coverage path planning (CPP) for complex fields in precision farming is often solved by splitting the problem: Finding a good field decomposition and optimizing the paths for each individual field. While various techniques have been proposed for both steps, they are performed sequentially, ignoring the knowledge gain from performing CPP for field decomposition. To overcome this limitation, an approach to link theses two steps and optimize them in parallel is proposed. A proof of concept is presented using coevolution to demonstrate the feasibility.